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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
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< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef STEREO_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define STEREO_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < rtabmap/core/Parameters.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > </ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span > </ div >
< div class = "foldopen" id = "foldopen00055" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html" > 55</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1Stereo.html" > Stereo</ a > {</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96" > 70</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1Stereo.html" > Stereo</ a > * < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96" > create</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > </ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3" > 82</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3" > Stereo</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > </ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5" > 87</ a ></ span > < span class = "keyword" > virtual</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5" > ~Stereo</ a > () {}</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > </ div >
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< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b" > 104</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
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< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > </ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382" > 124</ a ></ span > < span class = "keyword" > virtual</ span > std::vector< cv::Point2f> < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382" > computeCorrespondences</ a > (</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < span class = "keyword" > const</ span > cv::Mat & leftImage,</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keyword" > const</ span > cv::Mat & rightImage,</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & leftCorners,</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > std::vector< unsigned char> & status) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span >< span class = "preprocessor" > #ifdef HAVE_OPENCV_CUDEV</ span ></ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keyword" > virtual</ span > std::vector< cv::Point2f> computeCorrespondences(</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & leftImage,</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & rightImage,</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & leftCorners,</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > std::vector< unsigned char> & status) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > </ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54" > 154</ a ></ span > cv::Size < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54" > winSize</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > cv::Size(winWidth_, winHeight_);}</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > </ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816" > 160</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816" > iterations</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > iterations_;}</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > </ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5" > 166</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5" > maxLevel</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > maxLevel_;}</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > </ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742" > 172</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742" > minDisparity</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > minDisparity_;}</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > </ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31" > 178</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31" > maxDisparity</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > maxDisparity_;}</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > </ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978" > 184</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978" > winSSD</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > winSSD_;}</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > </ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179" > 190</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179" > isGpuEnabled</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "keyword" > false</ span > ;}</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > </ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keywordtype" > int</ span > winWidth_; </ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keywordtype" > int</ span > winHeight_; </ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > < span class = "keywordtype" > int</ span > iterations_; </ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > < span class = "keywordtype" > int</ span > maxLevel_; </ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > < span class = "keywordtype" > float</ span > minDisparity_; </ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > < span class = "keywordtype" > float</ span > maxDisparity_; </ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > < span class = "keywordtype" > bool</ span > winSSD_; </ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > </ div >
< div class = "foldopen" id = "foldopen00219" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html" > 219</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1StereoOpticalFlow.html" > StereoOpticalFlow</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Stereo.html" > Stereo</ a > {</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5" > 230</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5" > StereoOpticalFlow</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > </ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97" > 235</ a ></ span > < span class = "keyword" > virtual</ span > < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97" > ~StereoOpticalFlow</ a > () {}</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > </ div >
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< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78" > 250</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
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< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > </ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe" > 269</ a ></ span > < span class = "keyword" > virtual</ span > std::vector< cv::Point2f> < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe" > computeCorrespondences</ a > (</ div >
< div class = "line" >< a id = "l00270" name = "l00270" ></ a >< span class = "lineno" > 270</ span > < span class = "keyword" > const</ span > cv::Mat & leftImage,</ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" > 271</ span > < span class = "keyword" > const</ span > cv::Mat & rightImage,</ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" > 272</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & leftCorners,</ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > std::vector< unsigned char> & status) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > </ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span >< span class = "preprocessor" > #ifdef HAVE_OPENCV_CUDEV</ span ></ div >
< div class = "line" >< a id = "l00291" name = "l00291" ></ a >< span class = "lineno" > 291</ span > < span class = "keyword" > virtual</ span > std::vector< cv::Point2f> computeCorrespondences(</ div >
< div class = "line" >< a id = "l00292" name = "l00292" ></ a >< span class = "lineno" > 292</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & leftImage,</ div >
< div class = "line" >< a id = "l00293" name = "l00293" ></ a >< span class = "lineno" > 293</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & rightImage,</ div >
< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" > 294</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & leftCorners,</ div >
< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > std::vector< unsigned char> & status) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" > 296</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > </ div >
< div class = "line" >< a id = "l00302" name = "l00302" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8" > 302</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8" > epsilon</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > epsilon_;}</ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" > 303</ span > </ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e" > 312</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e" > isGpuEnabled</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > </ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > bool</ span > usingMinEigenVals()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > useMinEigenVals_;}</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keywordtype" > float</ span > minEigThreshold()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > minEigThreshold_;}</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keywordtype" > float</ span > errorThreshold()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > errorThreshold_;}</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > </ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > < span class = "keywordtype" > void</ span > updateStatus(</ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & leftCorners,</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > < span class = "keyword" > const</ span > std::vector< cv::Point2f> & rightCorners,</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > std::vector< unsigned char> & status,</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > std::vector< float> err = {}) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > </ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > < span class = "keywordtype" > float</ span > epsilon_; </ div >
< div class = "line" >< a id = "l00341" name = "l00341" ></ a >< span class = "lineno" > 341</ span > < span class = "keywordtype" > bool</ span > useMinEigenVals_;</ div >
< div class = "line" >< a id = "l00342" name = "l00342" ></ a >< span class = "lineno" > 342</ span > < span class = "keywordtype" > float</ span > minEigThreshold_;</ div >
< div class = "line" >< a id = "l00343" name = "l00343" ></ a >< span class = "lineno" > 343</ span > < span class = "keywordtype" > float</ span > errorThreshold_;</ div >
< div class = "line" >< a id = "l00344" name = "l00344" ></ a >< span class = "lineno" > 344</ span > < span class = "keywordtype" > bool</ span > gpu_; </ div >
< div class = "line" >< a id = "l00345" name = "l00345" ></ a >< span class = "lineno" > 345</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00346" name = "l00346" ></ a >< span class = "lineno" > 346</ span > </ div >
< div class = "line" >< a id = "l00347" name = "l00347" ></ a >< span class = "lineno" > 347</ span > } < span class = "comment" > /* namespace rtabmap */</ span ></ div >
< div class = "line" >< a id = "l00348" name = "l00348" ></ a >< span class = "lineno" > 348</ span > </ div >
< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" > 349</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* STEREO_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html" > rtabmap::StereoOpticalFlow</ a ></ div >< div class = "ttdoc" > Sparse stereo matching using optical flow.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00219" > Stereo.h:219</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_a406bbf688782966ea55a44c49ac10cbe" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe" > rtabmap::StereoOpticalFlow::computeCorrespondences</ a ></ div >< div class = "ttdeci" > virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat & leftImage, const cv::Mat & rightImage, const std::vector< cv::Point2f > & leftCorners, std::vector< unsigned char > & status) const</ div >< div class = "ttdoc" > Compute stereo correspondences using optical flow.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_a85173879ab911862112710fa1c94d8c5" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5" > rtabmap::StereoOpticalFlow::StereoOpticalFlow</ a ></ div >< div class = "ttdeci" > StereoOpticalFlow(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_aac2df770eba89ed2607c024c91d82c78" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78" > rtabmap::StereoOpticalFlow::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Parse parameters from a parameters map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_abc4c02bc672566fc2dd3f7331b84944e" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e" > rtabmap::StereoOpticalFlow::isGpuEnabled</ a ></ div >< div class = "ttdeci" > virtual bool isGpuEnabled() const</ div >< div class = "ttdoc" > Check if GPU acceleration is enabled.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_ae53f537e0e9ebf121ff8a8b3bdc410a8" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8" > rtabmap::StereoOpticalFlow::epsilon</ a ></ div >< div class = "ttdeci" > float epsilon() const</ div >< div class = "ttdoc" > Get the convergence threshold (epsilon)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00302" > Stereo.h:302</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoOpticalFlow_html_afa38ce6868f4bf0388559f81ff917a97" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97" > rtabmap::StereoOpticalFlow::~StereoOpticalFlow</ a ></ div >< div class = "ttdeci" > virtual ~StereoOpticalFlow()</ div >< div class = "ttdoc" > Virtual destructor.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00235" > Stereo.h:235</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html" > rtabmap::Stereo</ a ></ div >< div class = "ttdoc" > Sparse stereo matching using block matching.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00055" > Stereo.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a1031c68f4e66690da216718382af0ab3" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3" > rtabmap::Stereo::Stereo</ a ></ div >< div class = "ttdeci" > Stereo(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a2ce0c01fac282e0a8ffd862608fa2d96" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96" > rtabmap::Stereo::create</ a ></ div >< div class = "ttdeci" > static Stereo * create(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Factory method to create a Stereo instance.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a3834923d75c9453e885bea01cb5ecfa5" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5" > rtabmap::Stereo::maxLevel</ a ></ div >< div class = "ttdeci" > int maxLevel() const</ div >< div class = "ttdoc" > Get the maximum pyramid level.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00166" > Stereo.h:166</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a405d17f179327670251fca395728584b" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b" > rtabmap::Stereo::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Parse parameters from a parameters map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a5474ebbc178bcc29ebaff3d9d4e22e54" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54" > rtabmap::Stereo::winSize</ a ></ div >< div class = "ttdeci" > cv::Size winSize() const</ div >< div class = "ttdoc" > Get the search window size.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00154" > Stereo.h:154</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_a83319186c8c434ad0482d2eb911ecd31" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31" > rtabmap::Stereo::maxDisparity</ a ></ div >< div class = "ttdeci" > float maxDisparity() const</ div >< div class = "ttdoc" > Get the maximum disparity value.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00178" > Stereo.h:178</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_aaeec1e0e5470b1b1268b4e04bff81742" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742" > rtabmap::Stereo::minDisparity</ a ></ div >< div class = "ttdeci" > float minDisparity() const</ div >< div class = "ttdoc" > Get the minimum disparity value.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00172" > Stereo.h:172</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_abde66966de114cd5649fd22602d27816" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816" > rtabmap::Stereo::iterations</ a ></ div >< div class = "ttdeci" > int iterations() const</ div >< div class = "ttdoc" > Get the number of iterations.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00160" > Stereo.h:160</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_ac1db900d4dbca15de73a81d32f0be179" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179" > rtabmap::Stereo::isGpuEnabled</ a ></ div >< div class = "ttdeci" > virtual bool isGpuEnabled() const</ div >< div class = "ttdoc" > Check if GPU acceleration is enabled.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00190" > Stereo.h:190</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_aca70a15916baf916d6d66c93dad6b3d5" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5" > rtabmap::Stereo::~Stereo</ a ></ div >< div class = "ttdeci" > virtual ~Stereo()</ div >< div class = "ttdoc" > Virtual destructor.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00087" > Stereo.h:87</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_aed372a471e6d3ea72713e239709da978" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978" > rtabmap::Stereo::winSSD</ a ></ div >< div class = "ttdeci" > bool winSSD() const</ div >< div class = "ttdoc" > Check if SSD (Sum of Squared Differences) is used.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00184" > Stereo.h:184</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html_aefb9a38643b353727430c4bb6a551382" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382" > rtabmap::Stereo::computeCorrespondences</ a ></ div >< div class = "ttdeci" > virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat & leftImage, const cv::Mat & rightImage, const std::vector< cv::Point2f > & leftCorners, std::vector< unsigned char > & status) const</ div >< div class = "ttdoc" > Compute stereo correspondences using block matching.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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